Balance Sheet Components - Summary of Accrued Expense and Other Current Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Accrued Liabilities, Current [Abstract]
Accrued research and development materials and services	$ 6,952	$ 6,039
Accrued personnel expenses	5,956	4,774
Accrued professional services	443	208
Other	192	636
Total accrued expenses and other current liabilities	$ 13,543	$ 11,657